From 487b909189e03cea13fe10b553bb27d74de2ce76 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 22 Aug 2012 16:17:55 +1000
Subject: [PATCH] APM: ensure takeoff_complete is reset

---
 ArduPlane/commands_logic.pde | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde
index 3ce6e485a8..208f499f02 100644
--- a/ArduPlane/commands_logic.pde
+++ b/ArduPlane/commands_logic.pde
@@ -8,9 +8,16 @@ handle_process_nav_cmd()
 {
     // reset navigation integrators
     // -------------------------
-    land_complete = false;
     reset_I();
 
+
+    // set land_complete to false to stop us zeroing the throttle
+    land_complete = false;
+
+    // set takeoff_complete to true so we don't add extra evevator
+    // except in a takeoff 
+    takeoff_complete = true;
+
     gcs_send_text_fmt(PSTR("Executing nav command ID #%i"),next_nav_command.id);
     switch(next_nav_command.id) {